CN113749774A - Interventional operation robot driving device with function of identifying diameter of guide wire of catheter - Google Patents
Interventional operation robot driving device with function of identifying diameter of guide wire of catheter Download PDFInfo
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- CN113749774A CN113749774A CN202111010010.XA CN202111010010A CN113749774A CN 113749774 A CN113749774 A CN 113749774A CN 202111010010 A CN202111010010 A CN 202111010010A CN 113749774 A CN113749774 A CN 113749774A
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- 238000001514 detection method Methods 0.000 claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 238000006073 displacement reaction Methods 0.000 claims abstract description 6
- 230000004888 barrier function Effects 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 238000013459 approach Methods 0.000 description 5
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000002560 therapeutic procedure Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 210000004204 blood vessel Anatomy 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 235000013339 cereals Nutrition 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000002059 diagnostic imaging Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 201000011066 hemangioma Diseases 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000003578 releasing effect Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 230000002792 vascular Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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Abstract
The utility model provides an intervene surgical robot drive arrangement with discernment pipe seal wire diameter function, its installs in intervene surgical robot from serving for realize centre gripping, the drive of seal wire pipe, it includes inner tower, rubs with the hands and moves mechanism, first stroke detection device, it includes two centre gripping groups, the first drive assembly of relative setting to rub with the hands the mechanism, first drive assembly including movably install in the inner tower and connect respectively in two first chassis of two centre gripping groups, the driver that two first chassis of drive are close to each other or keep away from, first stroke detection device is used for detecting the driver drive two first chassis are close to each other until let two centre gripping groups the displacement volume of grasping the seal wire pipe and obtain pipe seal wire diameter. The invention can obtain the diameter of the guide wire of the catheter, and enables a doctor operating at the main end to effectively and quickly control the guide wire catheter to enter the focus position in the delivery process of the guide wire catheter.
Description
Technical Field
The invention relates to a device in the field of medical instrument robots, in particular to a driving device of an interventional operation robot with a function of identifying the diameter of a guide wire of a catheter.
Background
Interventional therapy is a minimally invasive therapy carried out by modern high-tech means, namely, under the guidance of medical imaging equipment, special catheters, guide wires and other precise instruments are introduced into a human body to diagnose and locally treat internal diseases.
The digital technology is applied to interventional therapy, the visual field of a doctor is expanded, the hands of the doctor are prolonged by means of the catheter and the guide wire, and the incision (puncture point) of the doctor is only rice grain in size, so that a plurality of diseases which cannot be treated in the past and have poor curative effect such as tumors, hemangiomas, various kinds of bleeding and the like can be treated without cutting human tissues. The interventional therapy has the characteristics of no operation, small wound, quick recovery and good effect. Is the development trend of future medicine.
For the blood vessel interventional operation, doctors need to receive X-ray radiation for a long time, and therefore, a master-slave blood vessel interventional operation robot for remote operation is developed in engineering. The master-slave vascular interventional surgical robot can work in an intense radiation environment, and a doctor controls a slave end at a master end outside a ray environment.
The slave-end surgical robot needs to be driven by a corresponding transmission mechanism in the process of executing the advancing and retreating and rotation of the guide wire (or the catheter), and in the surgical process, a doctor needs to replace the guide wires or the catheters with different models and functions according to the treatment requirements.
Disclosure of Invention
In view of the above, it is necessary to provide a novel interventional surgical robot driving device with a function of identifying the diameter of the guide wire of the catheter, aiming at the defects in the prior art.
The utility model provides an intervene surgical robot drive arrangement with discernment pipe seal wire diameter function, its installs in intervene surgical robot from serving for realize centre gripping, the drive of seal wire pipe, it includes inner tower, rubs with the hands and moves mechanism, first stroke detection device, it includes two centre gripping groups, the first drive assembly of relative setting to rub with the hands the mechanism, first drive assembly including movably install in the inner tower and connect respectively in two first chassis of two centre gripping groups, the driver that two first chassis of drive are close to each other or keep away from, first stroke detection device is used for detecting the driver drive two first chassis are close to each other until let two centre gripping groups the displacement volume of grasping the seal wire pipe and obtain pipe seal wire diameter.
Furthermore, the first stroke detection device is a grating sensor, and the grating sensor comprises a grating ruler arranged on a first bottom frame and a reading head arranged on the inner frame.
Further, the driver is an electromagnetic driver or a first driving motor.
Furthermore, the first driving assembly further comprises first linkage wheels which are connected to the two first bottom frames at the same time, the two first bottom frames are arranged oppositely, and the first linkage wheels are arranged between the two first bottom frames.
Furthermore, the inner sides of the two first underframe are respectively provided with a latch, the outer surface of the first linkage wheel is provided with a latch, and the first linkage wheel is simultaneously meshed with the first underframe of the two clamping groups through the latch.
Further, the clamping device further comprises a second driving assembly, and the second driving assembly drives the two clamping groups to move oppositely along the first direction.
Furthermore, the second driving assembly comprises two sliding seats, a second linkage wheel and a second driving motor, the second linkage wheel is arranged between the two sliding seats and enables the two sliding seats to synchronously move away from or close to each other along a second direction perpendicular to the first direction, the second driving motor is connected to the second linkage wheel, and the second driving motor drives the two clamping groups to move in opposite directions along the second direction so as to twist the guide wire guide pipe to rotate.
Furthermore, the inner side surfaces of the two sliding seats of the second driving assembly are respectively provided with a latch, the outer circumferential surface of the second coupling wheel is provided with a latch, the two sliding seats of the second driving assembly are simultaneously meshed with the second coupling wheel, the second driving motor drives the second coupling wheel to rotate, and under the action of the second coupling wheel, the two sliding seats are driven to move in opposite directions, so that the two clamping groups are driven to rub the guide wire or the guide pipe to rotate forwards or reversely.
Further, the device also comprises second stroke detection devices for detecting whether the strokes of the two clamping groups in the second direction reach the limit positions.
Further, the second stroke detection device is a photoelectric sensor.
Furthermore, the number of the photoelectric sensors is two, the two photoelectric sensors are arranged on the inner frame, the two sliding seats are respectively convexly provided with a barrier strip, and the barrier strips on the two sliding seats are respectively matched with the two photoelectric sensors.
In summary, the interventional surgical robot driving device with the function of identifying the diameter of the guide wire of the catheter is provided with the first stroke detection device, the first stroke detection device detects that the driver drives the two first bottom frames to approach each other until the two clamping groups clamp the displacement of the guide wire catheter, so that the diameter of the guide wire of the catheter is obtained, when the second driving component drives the guide wire catheter to rotate, the second driving component can accurately control the rotation number of the guide wire catheter according to the obtained diameter information of the guide wire catheter, so that the instruction sent by the master end control conforms to the slave end control, and a doctor operating at the master end can effectively and quickly control the guide wire catheter to enter the focus position.
Drawings
FIG. 1 is a schematic structural diagram of a driving device of an interventional surgical robot with a function of identifying the diameter of a guide wire of a catheter, which is disclosed by the invention;
FIG. 2 is a schematic structural diagram of the interventional surgical robot driving device with a function of identifying the diameter of a guide wire of a catheter shown in FIG. 1 after a frame is removed;
FIG. 3 is a schematic view of another angle of the interventional surgical robot driving device with the function of identifying the diameter of the guide wire of the catheter shown in FIG. 2;
fig. 4 and 5 are schematic structural diagrams of fig. 3 without the second driving motor, the inner frame and the photoelectric sensor;
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 to 5, the present invention provides a driving device for an interventional surgical robot with a function of identifying a diameter of a guide wire of a catheter, which is installed on a slave end of the interventional surgical robot, and pushes a slender medical device (guide wire or catheter) 100 to perform operations of clamping, forward rotation and reverse rotation, and pushing the slender medical device 100, i.e., the forward rotation of the guide wire or catheter means a direction in which the guide wire or catheter is rotated into a body of a surgical patient, and the reverse rotation means a direction in which the guide wire or catheter is rotated out of the body of the surgical patient.
The interventional operation robot driving device with the function of identifying the diameter of the guide wire of the catheter comprises a rack 10, an inner frame 20 and a twisting mechanism, wherein the twisting mechanism is arranged on the inner frame 20, and the rack 10 is sleeved on the outer sides of the inner frame 20 and the twisting mechanism to isolate the outside from the twisting mechanism. The twisting mechanism comprises two clamping groups 30, a first driving assembly 40 and a second driving assembly 50 which are oppositely arranged, the first driving assembly 40 drives the two clamping groups 30 to approach or depart from each other along a first direction, when the first driving assembly 40 drives the two clamping groups 30 to approach along the first direction, the two clamping groups 30 clamp the guide wire catheter, the second driving assembly 50 drives the two clamping groups 30 to move in opposite directions along a second direction different from the first direction, the twisting guide wire catheter rotates, and the first direction is perpendicular to the second direction.
The first driving assembly 40 includes two first bottom frames 43 installed on the inner frame 20, first linkage wheels 42 simultaneously connected to the two first bottom frames 43, two sets of first guide rods 44 respectively installed on the two first bottom frames 43, and a driver 41 for driving the two first bottom frames 43 to move along a first direction. The two first bottom frames 43 are oppositely arranged. The first linkage wheel 42 is disposed between the two first bottom frames 43 and allows the two first bottom frames 43 to synchronously move toward or away from each other along a first direction. The inner sides of the two first underframe 43 are both provided with latch teeth, the outer surface of the first linkage wheel 42 is provided with latch teeth, and the first linkage wheel 42 is meshed with the first underframe 43 of the two clamping groups 30 through the latch teeth. The driver 41 is connected with one of the first base frames 43, and under the action of the first linkage wheel 42, the driver 41 drives the two first base frames 43 to move in opposite directions along the first direction. The two clamping groups 30 are respectively mounted on the two groups of first guide rods 44, and drive the two clamping groups 30 to approach or separate from each other along a first direction, so as to drive the two clamping groups 30 to perform clamping or releasing actions, and the driver 41 may be an electromagnetic driver or a first driving motor.
The two first chassis 43 of the first driving assembly 40 are respectively installed in cooperation with the two clamping groups 30 through two sets of first guide rods 44. The entire clamping group 30 can slide back and forth along the first guide rod 44 in a second direction to twist the guide wire or catheter.
The inner frame 20 is further provided with two sets of bearings 22 corresponding to the two first bottom frames 43, the bearings 22 extend along a first direction, the two first bottom frames 43 of the first driving assembly 40 are respectively mounted on the two bearings 22, and the first bottom frames 43 slide on the bearings 22 along the first direction.
The interventional surgical robot driving device with the function of identifying the diameter of the guide wire of the catheter further comprises a first stroke detection device 60. In this embodiment, the first stroke detecting device 60 is a grating sensor, the grating sensor includes a grating ruler 62 and a grating reading head 61, the grating ruler 62 is mounted on a first chassis 43 along a first direction, and the grating reading head 61 is disposed above the grating ruler 62 and is fixedly mounted on the inner frame 20. When the two first underframe 43 moves along the first direction until the two clamping groups 30 clamp the guide wire of the catheter, the grating sensor acquires the displacement of the movement and transmits the measurement result to the system controller, and the measurement result is converted into the diameter of the guide wire or the catheter. In order to determine that the two clamping groups 30 completely clamp the guide wire and the guide tube, a pressure sensor 70 is further disposed between the first chassis 43 and the driver 41, the driver 41 drives the two clamping groups 30 to squeeze the pressure sensor 70 when clamping the guide wire and the guide tube, and when a pressure value of the pressure sensor 70 reaches a set value, it indicates that the two clamping groups 30 clamp the guide wire and the guide tube, of course, the pressure sensor 70 is not used, and the driver 41 only needs to output a driving force with a fixed value each time the guide wire or the guide tube is clamped.
The second driving assembly 50 includes two sliding seats 53 respectively connected to the two clamping groups 30, a second linkage wheel 52 disposed between the two sliding seats 53 and allowing the two sliding seats 53 to move away from or close to each other along a second direction synchronously, and a second driving motor 51 connected to the second linkage wheel 52, wherein the second driving motor 51 drives the two clamping groups 30 to move in opposite directions along the second direction so as to twist the guide wire conduit to rotate. The inner side surfaces of the two sliding seats 53 of the second driving assembly 50 are both provided with a latch, the outer circumferential surface of the second linkage wheel 52 is provided with a latch, the two sliding seats 53 of the second driving assembly 50 are simultaneously engaged with the second linkage wheel 52, the second driving motor 51 drives the second linkage wheel 52 to rotate, and under the action of the second linkage wheel 52, the two sliding seats 53 are synchronously driven to move in opposite directions, so that the two clamping groups 30 are driven to rub the guide wire or the guide pipe to rotate in forward or reverse directions.
The bottom of each of the clamping groups 30 is provided with a lock catch groove 31, the slide base 53 connected with the lock catch groove 31 is provided with a clamping strip 54 at a position with a horizontal height equal to the lock catch groove 31, and the clamping strip 54 is clamped in the lock catch groove 31, so that the second driving motor 51 can drive the two corresponding clamping groups 30 to move in the second direction in the opposite direction through the two slide bases 53.
The interventional surgical robot driving device with the function of identifying the diameter of the guide wire of the catheter further comprises a second stroke detection device 63, and the second stroke detection device 63 is used for detecting whether the stroke of the two clamping groups 30 in the second direction reaches the limit position or not. In this embodiment, the second stroke detecting device 63 is a two-piece photoelectric sensor, and the two photoelectric sensors are mounted on the clamping plate 21. Correspondingly, the two sliding seats 53 are also convexly provided with barrier strips 55, the barrier strips 55 on the two sliding seats 53 respectively correspond to the two photoelectric sensors, as the two clamping groups 30 move in the second direction in opposite directions, as long as one of the clamping groups 30 moves, the corresponding barrier strip 55 on the sliding seat 53 moves to the light outlet position of the corresponding photoelectric sensor, the system controller judges that the clamping group 30 reaches the limit position along the second direction according to the change of the optical information of the photoelectric sensor, the two clamping groups 30 loosen the guide wire catheter, then reset, and start the next driving.
In summary, the interventional surgical robot driving device with the function of identifying the diameter of the guide wire of the catheter is provided with the first stroke detecting device 60, the first stroke detecting device 60 detects that the driver drives the two first underframe 43 to approach each other until the two clamping groups 30 clamp the displacement of the guide wire catheter, so as to obtain the diameter of the guide wire of the catheter, when the second driving assembly 50 drives the guide wire catheter to rotate, according to the obtained diameter information of the guide wire catheter, under the condition that the diameter information is determined, the second driving assembly 50 can accurately control the number of rotation turns of the guide wire catheter, so that the instruction sent by the master end control conforms to the slave end control, and a doctor operating at the master end can more effectively and more quickly control the guide wire catheter to enter the lesion position.
The above-mentioned embodiments only express one embodiment of the invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the invention. Therefore, the protection scope of the invention patent should be subject to the appended claims.
Claims (11)
1. The utility model provides an intervene surgical robot drive arrangement with discernment pipe seal wire diameter function, its installs in intervene surgical robot from serving for realize centre gripping, the drive of seal wire pipe, its characterized in that, includes inner tower, rubs mechanism, first stroke detection device, it includes two centre gripping groups, the first drive assembly of relative setting to rub the mechanism, first drive assembly including movably install in the inner tower and connect respectively in the driver that two first chassis of two centre gripping groups, two first chassis of drive are close to each other or keep away from, first stroke detection device is used for detecting the driver drive two first chassis are close to each other until let two centre gripping groups the displacement volume of grasping the seal wire pipe and obtain pipe seal wire diameter.
2. An interventional surgical robot driving device with a function of identifying a diameter of a guide wire of a catheter according to claim 1, wherein: the first stroke detection device is a grating sensor which comprises a grating ruler arranged on a first bottom frame and a reading head arranged on the inner frame.
3. An interventional surgical robot driving device with a function of identifying a diameter of a guide wire of a catheter according to claim 1, wherein: the driver is an electromagnetic driver or a first driving motor.
4. An interventional surgical robot driving device with a function of identifying a diameter of a guide wire of a catheter according to claim 1, wherein: the first driving assembly further comprises first linkage wheels which are connected to the two first underframe at the same time, the two first underframe are oppositely arranged, and the first linkage wheels are arranged between the two first underframe.
5. An interventional surgical robot driving device with a function of identifying a diameter of a guide wire of a catheter according to claim 4, wherein: the inner sides of the two first underframe frames are respectively provided with a latch, the outer surface of the first linkage wheel is provided with a latch, and the first linkage wheel is simultaneously meshed with the first underframe frames of the two clamping groups through the latch.
6. An interventional surgical robot driving device with a function of identifying a diameter of a guide wire of a catheter according to claim 1, wherein: the clamping device further comprises a second driving assembly, and the second driving assembly drives the two clamping groups to move in opposite directions along the first direction.
7. An interventional surgical robot driving device with a function of identifying a diameter of a guide wire of a catheter according to claim 6, wherein: the second driving assembly comprises two sliding seats, a second linkage wheel and a second driving motor, the second linkage wheel is arranged between the two sliding seats and enables the two sliding seats to synchronously move away from or close to each other along a second direction perpendicular to the first direction, the second driving motor is connected to the second linkage wheel, and the second driving motor drives the two clamping groups to move in opposite directions along the second direction so as to twist the guide wire guide pipe to rotate.
8. An interventional surgical robot driving device with a function of identifying a diameter of a guide wire of a catheter according to claim 7, wherein: the inner side surfaces of the two sliding seats of the second driving assembly are respectively provided with a clamping tooth, the outer circumferential surface of the second linkage wheel is provided with a clamping tooth, the two sliding seats of the second driving assembly are simultaneously meshed with the second linkage wheel, the second driving motor drives the second linkage wheel to rotate, and the two sliding seats are driven to move in opposite directions under the action of the second linkage wheel, so that the two clamping groups are driven to rub the guide wire or the guide pipe to rotate forwards or reversely.
9. An interventional surgical robot driving device with a function of identifying a diameter of a guide wire of a catheter according to claim 7, wherein: and the second stroke detection device is used for detecting whether the strokes of the two clamping groups in the second direction reach the limit positions.
10. An interventional surgical robot driving device with a function of identifying a diameter of a guide wire of a catheter according to claim 8, wherein: the second stroke detection device is a photoelectric sensor.
11. An interventional surgical robot driving device with a function of identifying a diameter of a guide wire of a catheter according to claim 8, wherein: the number of the photoelectric sensors is two, the two photoelectric sensors are arranged on the inner frame, the two sliding seats are respectively provided with a barrier strip in a protruding mode, and the barrier strips on the two sliding seats are respectively matched with the two photoelectric sensors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2022/102243 WO2023016119A1 (en) | 2021-08-10 | 2022-06-29 | Interventional surgical robot driving device with catheter and guide wire diameter identification function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2021109124480 | 2021-08-10 | ||
| CN202110912448 | 2021-08-10 |
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| CN113749774A true CN113749774A (en) | 2021-12-07 |
| CN113749774B CN113749774B (en) | 2023-05-16 |
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| CN202111010010.XA Active CN113749774B (en) | 2021-08-10 | 2021-08-31 | Interventional operation robot driving device with catheter guide wire diameter identification function |
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| CN (1) | CN113749774B (en) |
| WO (1) | WO2023016119A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2022258018A1 (en) * | 2021-06-10 | 2022-12-15 | 深圳市爱博医疗机器人有限公司 | Slave end guide wire/catheter twisting apparatus for interventional surgical robot |
| WO2023016119A1 (en) * | 2021-08-10 | 2023-02-16 | 深圳市爱博医疗机器人有限公司 | Interventional surgical robot driving device with catheter and guide wire diameter identification function |
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- 2022-06-29 WO PCT/CN2022/102243 patent/WO2023016119A1/en active Application Filing
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| Publication number | Publication date |
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| WO2023016119A1 (en) | 2023-02-16 |
| CN113749774B (en) | 2023-05-16 |
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Address after: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Patentee after: Shenzhen Aibo Hechuang Medical Robot Co.,Ltd. Address before: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Patentee before: Shenzhen Aibo medical robot Co.,Ltd. |
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